The invention provides a manual fruit-picking device. The manual fruit-picking device comprises an adjustment supporting block, a free retractable guide rod, a retractable operation rod, an operatinghandle, an execution gripper head, a transmission net bag, a mobile collection device and a work vest. Functions of flexible operation and all-round picking of the device can be implemented by using asliding block, an axial rotation connecting piece, a radial rotation connecting piece and the free retractable guide rod; multistage adjustment of the length of the retractable operation rod can be implemented by using a ratchet wheel winding and unwinding mechanism and the retractable operation rod mechanism to adapt to picking of fruits at different heights, thereby reducing the potential safety hazard; the gripper head is of a replaceable structure, and picking of different fruits can be implemented; the device is of a pure mechanical structure and does not need electric drive, and a plurality of components of the whole device can be detachable, therefore, the device has the characteristics of being easy to maintain, long in service life, low in cost, small in space usage, simple and portable.